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<div class="title">optimization_algorithm_factory.h</div>  </div>
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<a href="optimization__algorithm__factory_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_OPTMIZATION_ALGORITHM_PROPERTY_H</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define G2O_OPTMIZATION_ALGORITHM_PROPERTY_H</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &quot;../../config.h&quot;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &quot;../stuff/misc.h&quot;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="optimization__algorithm__property_8h.html">optimization_algorithm_property.h</a>&quot;</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#include &lt;list&gt;</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#include &lt;typeinfo&gt;</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment">// define to get some verbose output</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="comment">//#define G2O_DEBUG_OPTIMIZATION_ALGORITHM_FACTORY</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <span class="comment">// forward decl</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keyword">class  </span>OptimizationAlgorithm;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keyword">class  </span>SparseOptimizer;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div><div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classg2o_1_1_abstract_optimization_algorithm_creator.html">   54</a></span>&#160;  <span class="keyword">class  </span><a class="code" href="classg2o_1_1_abstract_optimization_algorithm_creator.html">AbstractOptimizationAlgorithmCreator</a></div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  {</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      <a class="code" href="classg2o_1_1_abstract_optimization_algorithm_creator.html#ae9f64a630d2e641043aabc98660495d8">AbstractOptimizationAlgorithmCreator</a>(<span class="keyword">const</span> <a class="code" href="structg2o_1_1_optimization_algorithm_property.html">OptimizationAlgorithmProperty</a>&amp; p);</div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classg2o_1_1_abstract_optimization_algorithm_creator.html#a8832e6083876766797176fb0d93b4554">   58</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classg2o_1_1_abstract_optimization_algorithm_creator.html#a8832e6083876766797176fb0d93b4554">~AbstractOptimizationAlgorithmCreator</a>() { }</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classg2o_1_1_optimization_algorithm.html">OptimizationAlgorithm</a>* <a class="code" href="classg2o_1_1_abstract_optimization_algorithm_creator.html#a96a737bda0f932ac7dd51aa468795353">construct</a>() = 0;</div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classg2o_1_1_abstract_optimization_algorithm_creator.html#ab074710276ea3496d5bff118e48c6030">   62</a></span>&#160;      <span class="keyword">const</span> <a class="code" href="structg2o_1_1_optimization_algorithm_property.html">OptimizationAlgorithmProperty</a>&amp; <a class="code" href="classg2o_1_1_abstract_optimization_algorithm_creator.html#ab074710276ea3496d5bff118e48c6030">property</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classg2o_1_1_abstract_optimization_algorithm_creator.html#acf2663d0d6dec71049e4853a9825eafb">_property</a>;}</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keyword">protected</span>:</div><div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classg2o_1_1_abstract_optimization_algorithm_creator.html#acf2663d0d6dec71049e4853a9825eafb">   64</a></span>&#160;      <a class="code" href="structg2o_1_1_optimization_algorithm_property.html">OptimizationAlgorithmProperty</a> <a class="code" href="classg2o_1_1_abstract_optimization_algorithm_creator.html#acf2663d0d6dec71049e4853a9825eafb">_property</a>;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  };</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  </div><div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_factory.html">   74</a></span>&#160;  <span class="keyword">class  </span><a class="code" href="classg2o_1_1_optimization_algorithm_factory.html">OptimizationAlgorithmFactory</a></div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  {</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_factory.html#a3ed210b94bf09b47e30d07da3766b4ec">   77</a></span>&#160;      <span class="keyword">typedef</span> std::list&lt;AbstractOptimizationAlgorithmCreator*&gt;      <a class="code" href="classg2o_1_1_optimization_algorithm_factory.html#a3ed210b94bf09b47e30d07da3766b4ec">CreatorList</a>;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">static</span> <a class="code" href="classg2o_1_1_optimization_algorithm_factory.html">OptimizationAlgorithmFactory</a>* instance();</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">static</span> <span class="keywordtype">void</span> destroy();</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keywordtype">void</span> registerSolver(<a class="code" href="classg2o_1_1_abstract_optimization_algorithm_creator.html">AbstractOptimizationAlgorithmCreator</a>* c);</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <span class="keywordtype">void</span> unregisterSolver(<a class="code" href="classg2o_1_1_abstract_optimization_algorithm_creator.html">AbstractOptimizationAlgorithmCreator</a>* c);</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      </div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <a class="code" href="classg2o_1_1_optimization_algorithm.html">OptimizationAlgorithm</a>* <a class="code" href="classg2o_1_1_abstract_optimization_algorithm_creator.html#a96a737bda0f932ac7dd51aa468795353">construct</a>(<span class="keyword">const</span> std::string&amp; tag, <a class="code" href="structg2o_1_1_optimization_algorithm_property.html">OptimizationAlgorithmProperty</a>&amp; solverProperty) <span class="keyword">const</span>;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <span class="keywordtype">void</span> listSolvers(std::ostream&amp; os) <span class="keyword">const</span>;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_factory.html#ae17f0e3d3f60e5cda96651a7ded37b4c">  104</a></span>&#160;      <span class="keyword">const</span> CreatorList&amp; <a class="code" href="classg2o_1_1_optimization_algorithm_factory.html#ae17f0e3d3f60e5cda96651a7ded37b4c">creatorList</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _creator;}</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="keyword">protected</span>:</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <a class="code" href="classg2o_1_1_optimization_algorithm_factory.html">OptimizationAlgorithmFactory</a>();</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      ~<a class="code" href="classg2o_1_1_optimization_algorithm_factory.html">OptimizationAlgorithmFactory</a>();</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div><div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_factory.html#a1d7f67d60df0d0b26a7694dcea4879db">  110</a></span>&#160;      CreatorList <a class="code" href="classg2o_1_1_optimization_algorithm_factory.html#a1d7f67d60df0d0b26a7694dcea4879db">_creator</a>;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      CreatorList::const_iterator findSolver(<span class="keyword">const</span> std::string&amp; name) <span class="keyword">const</span>;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      CreatorList::iterator findSolver(<span class="keyword">const</span> std::string&amp; name);</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <span class="keyword">private</span>:</div><div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_factory.html#a688a34932a4e4c94e122dd81f35bb7ca">  116</a></span>&#160;      <span class="keyword">static</span> <a class="code" href="classg2o_1_1_optimization_algorithm_factory.html">OptimizationAlgorithmFactory</a>* <a class="code" href="classg2o_1_1_optimization_algorithm_factory.html#a688a34932a4e4c94e122dd81f35bb7ca">factoryInstance</a>;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  };</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;</div><div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classg2o_1_1_register_optimization_algorithm_proxy.html">  119</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classg2o_1_1_register_optimization_algorithm_proxy.html">RegisterOptimizationAlgorithmProxy</a></div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  {</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classg2o_1_1_register_optimization_algorithm_proxy.html#acf89c65d6156d53014e0dcafd388258c">  122</a></span>&#160;      <a class="code" href="classg2o_1_1_register_optimization_algorithm_proxy.html#acf89c65d6156d53014e0dcafd388258c">RegisterOptimizationAlgorithmProxy</a>(<a class="code" href="classg2o_1_1_abstract_optimization_algorithm_creator.html">AbstractOptimizationAlgorithmCreator</a>* c)</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      {</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        _creator = c;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;<span class="preprocessor">#ifdef G2O_DEBUG_OPTIMIZATION_ALGORITHM_FACTORY</span></div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        std::cout &lt;&lt; __FUNCTION__ &lt;&lt; <span class="stringliteral">&quot;: Registering &quot;</span> &lt;&lt; _creator-&gt;<a class="code" href="classg2o_1_1_abstract_optimization_algorithm_creator.html#ab074710276ea3496d5bff118e48c6030">property</a>().<a class="code" href="structg2o_1_1_optimization_algorithm_property.html#aedb3c54122d6a75d49e1677e836bac22">name</a> &lt;&lt; <span class="stringliteral">&quot; of type &quot;</span> &lt;&lt; <span class="keyword">typeid</span>(*_creator).name() &lt;&lt; std::endl;</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <a class="code" href="classg2o_1_1_optimization_algorithm_factory.html#a4fe827a82f01c74ef124e7a9a9c98707">OptimizationAlgorithmFactory::instance</a>()-&gt;<a class="code" href="classg2o_1_1_optimization_algorithm_factory.html#a7726ae90dc3d5baf62fa364517e0fed7">registerSolver</a>(c);</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      }</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;</div><div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classg2o_1_1_register_optimization_algorithm_proxy.html#a30f84a170a0d140ee60e1bc428d4c65f">  131</a></span>&#160;      <a class="code" href="classg2o_1_1_register_optimization_algorithm_proxy.html#a30f84a170a0d140ee60e1bc428d4c65f">~RegisterOptimizationAlgorithmProxy</a>()</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      {</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;<span class="preprocessor">#ifdef G2O_DEBUG_OPTIMIZATION_ALGORITHM_FACTORY</span></div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        std::cout &lt;&lt; __FUNCTION__ &lt;&lt; <span class="stringliteral">&quot;: Unregistering &quot;</span> &lt;&lt; _creator-&gt;property().name &lt;&lt; std::endl;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <a class="code" href="classg2o_1_1_optimization_algorithm_factory.html#a4fe827a82f01c74ef124e7a9a9c98707">OptimizationAlgorithmFactory::instance</a>()-&gt;<a class="code" href="classg2o_1_1_optimization_algorithm_factory.html#adf79430f6176c9e9309a703ba2dbd14b">unregisterSolver</a>(_creator);</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      }</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    <span class="keyword">private</span>:</div><div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="classg2o_1_1_register_optimization_algorithm_proxy.html#a75e4119a0fdcfe4c4267cd86a90073d6">  139</a></span>&#160;      <a class="code" href="classg2o_1_1_abstract_optimization_algorithm_creator.html">AbstractOptimizationAlgorithmCreator</a>* <a class="code" href="classg2o_1_1_register_optimization_algorithm_proxy.html#a75e4119a0fdcfe4c4267cd86a90073d6">_creator</a>;</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  };</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;}</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;<span class="preprocessor">#if defined _MSC_VER &amp;&amp; defined G2O_SHARED_LIBS</span></div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;<span class="preprocessor">#  define G2O_OAF_EXPORT __declspec(dllexport)</span></div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;<span class="preprocessor">#  define G2O_OAF_IMPORT __declspec(dllimport)</span></div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="optimization__algorithm__factory_8h.html#a3f15543b2516d363adadc2a2b0eec964">  148</a></span>&#160;<span class="preprocessor">#  define G2O_OAF_EXPORT</span></div><div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="optimization__algorithm__factory_8h.html#aa5041852f640092de125618ac6e67b14">  149</a></span>&#160;<span class="preprocessor">#  define G2O_OAF_IMPORT</span></div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;</div><div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="optimization__algorithm__factory_8h.html#a6f269806c32a948fabdc63ce3a2a0d6f">  152</a></span>&#160;<span class="preprocessor">#define G2O_REGISTER_OPTIMIZATION_LIBRARY(libraryname) \</span></div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;<span class="preprocessor">    extern &quot;C&quot; void G2O_OAF_EXPORT g2o_optimization_library_##libraryname(void) {}</span></div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;</div><div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="optimization__algorithm__factory_8h.html#ae57d464827ff178ae08cb64e93e12cf6">  155</a></span>&#160;<span class="preprocessor">#define G2O_USE_OPTIMIZATION_LIBRARY(libraryname) \</span></div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;<span class="preprocessor">    extern &quot;C&quot; void G2O_OAF_IMPORT g2o_optimization_library_##libraryname(void); \</span></div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;<span class="preprocessor">    static g2o::ForceLinker g2o_force_optimization_algorithm_library_##libraryname(g2o_optimization_library_##libraryname);</span></div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;</div><div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="optimization__algorithm__factory_8h.html#a706f71c4292e3540e2e9608c5b0e9be1">  159</a></span>&#160;<span class="preprocessor">#define G2O_REGISTER_OPTIMIZATION_ALGORITHM(optimizername, instance) \</span></div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;<span class="preprocessor">    extern &quot;C&quot; void G2O_OAF_EXPORT g2o_optimization_algorithm_##optimizername(void) {} \</span></div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;<span class="preprocessor">    static g2o::RegisterOptimizationAlgorithmProxy g_optimization_algorithm_proxy_##optimizername(instance);</span></div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;</div><div class="line"><a name="l00163"></a><span class="lineno"><a class="line" href="optimization__algorithm__factory_8h.html#a5e2ec0694bdcbe2d89c3194b017dc6a0">  163</a></span>&#160;<span class="preprocessor">#define G2O_USE_OPTIMIZATION_ALGORITHM(optimizername) \</span></div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;<span class="preprocessor">    extern &quot;C&quot; void G2O_OAF_IMPORT g2o_optimization_algorithm_##optimizername(void); \</span></div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;<span class="preprocessor">    static g2o::ForceLinker g2o_force_optimization_algorithm_link_##optimizername(g2o_optimization_algorithm_##optimizername);</span></div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classg2o_1_1_optimization_algorithm_factory_html_a1d7f67d60df0d0b26a7694dcea4879db"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_factory.html#a1d7f67d60df0d0b26a7694dcea4879db">g2o::OptimizationAlgorithmFactory::_creator</a></div><div class="ttdeci">CreatorList _creator</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_factory.h:110</div></div>
<div class="ttc" id="structg2o_1_1_optimization_algorithm_property_html"><div class="ttname"><a href="structg2o_1_1_optimization_algorithm_property.html">g2o::OptimizationAlgorithmProperty</a></div><div class="ttdoc">describe the properties of a solver </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_property.h:37</div></div>
<div class="ttc" id="structg2o_1_1_optimization_algorithm_property_html_aedb3c54122d6a75d49e1677e836bac22"><div class="ttname"><a href="structg2o_1_1_optimization_algorithm_property.html#aedb3c54122d6a75d49e1677e836bac22">g2o::OptimizationAlgorithmProperty::name</a></div><div class="ttdeci">std::string name</div><div class="ttdoc">name of the solver, e.g., var </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_property.h:39</div></div>
<div class="ttc" id="classg2o_1_1_register_optimization_algorithm_proxy_html_a75e4119a0fdcfe4c4267cd86a90073d6"><div class="ttname"><a href="classg2o_1_1_register_optimization_algorithm_proxy.html#a75e4119a0fdcfe4c4267cd86a90073d6">g2o::RegisterOptimizationAlgorithmProxy::_creator</a></div><div class="ttdeci">AbstractOptimizationAlgorithmCreator * _creator</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_factory.h:139</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_factory_html_a7726ae90dc3d5baf62fa364517e0fed7"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_factory.html#a7726ae90dc3d5baf62fa364517e0fed7">g2o::OptimizationAlgorithmFactory::registerSolver</a></div><div class="ttdeci">void registerSolver(AbstractOptimizationAlgorithmCreator *c)</div><div class="ttdoc">register a specific creator for allocating a solver </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_factory.cpp:62</div></div>
<div class="ttc" id="classg2o_1_1_abstract_optimization_algorithm_creator_html_acf2663d0d6dec71049e4853a9825eafb"><div class="ttname"><a href="classg2o_1_1_abstract_optimization_algorithm_creator.html#acf2663d0d6dec71049e4853a9825eafb">g2o::AbstractOptimizationAlgorithmCreator::_property</a></div><div class="ttdeci">OptimizationAlgorithmProperty _property</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_factory.h:64</div></div>
<div class="ttc" id="classg2o_1_1_register_optimization_algorithm_proxy_html"><div class="ttname"><a href="classg2o_1_1_register_optimization_algorithm_proxy.html">g2o::RegisterOptimizationAlgorithmProxy</a></div><div class="ttdef"><b>Definition:</b> optimization_algorithm_factory.h:119</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_factory_html_a688a34932a4e4c94e122dd81f35bb7ca"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_factory.html#a688a34932a4e4c94e122dd81f35bb7ca">g2o::OptimizationAlgorithmFactory::factoryInstance</a></div><div class="ttdeci">static OptimizationAlgorithmFactory * factoryInstance</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_factory.h:116</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_factory_html_a4fe827a82f01c74ef124e7a9a9c98707"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_factory.html#a4fe827a82f01c74ef124e7a9a9c98707">g2o::OptimizationAlgorithmFactory::instance</a></div><div class="ttdeci">static OptimizationAlgorithmFactory * instance()</div><div class="ttdoc">return the instance </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_factory.cpp:54</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_factory_html_adf79430f6176c9e9309a703ba2dbd14b"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_factory.html#adf79430f6176c9e9309a703ba2dbd14b">g2o::OptimizationAlgorithmFactory::unregisterSolver</a></div><div class="ttdeci">void unregisterSolver(AbstractOptimizationAlgorithmCreator *c)</div><div class="ttdoc">unregister a specific creator for allocating a solver </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_factory.cpp:74</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_factory_html_ae17f0e3d3f60e5cda96651a7ded37b4c"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_factory.html#ae17f0e3d3f60e5cda96651a7ded37b4c">g2o::OptimizationAlgorithmFactory::creatorList</a></div><div class="ttdeci">const CreatorList &amp; creatorList() const</div><div class="ttdoc">return the underlying list of creators </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_factory.h:104</div></div>
<div class="ttc" id="classg2o_1_1_abstract_optimization_algorithm_creator_html"><div class="ttname"><a href="classg2o_1_1_abstract_optimization_algorithm_creator.html">g2o::AbstractOptimizationAlgorithmCreator</a></div><div class="ttdoc">base for allocating an optimization algorithm </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_factory.h:54</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_factory_html"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_factory.html">g2o::OptimizationAlgorithmFactory</a></div><div class="ttdoc">create solvers based on their short name </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_factory.h:74</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="classg2o_1_1_register_optimization_algorithm_proxy_html_acf89c65d6156d53014e0dcafd388258c"><div class="ttname"><a href="classg2o_1_1_register_optimization_algorithm_proxy.html#acf89c65d6156d53014e0dcafd388258c">g2o::RegisterOptimizationAlgorithmProxy::RegisterOptimizationAlgorithmProxy</a></div><div class="ttdeci">RegisterOptimizationAlgorithmProxy(AbstractOptimizationAlgorithmCreator *c)</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_factory.h:122</div></div>
<div class="ttc" id="classg2o_1_1_register_optimization_algorithm_proxy_html_a30f84a170a0d140ee60e1bc428d4c65f"><div class="ttname"><a href="classg2o_1_1_register_optimization_algorithm_proxy.html#a30f84a170a0d140ee60e1bc428d4c65f">g2o::RegisterOptimizationAlgorithmProxy::~RegisterOptimizationAlgorithmProxy</a></div><div class="ttdeci">~RegisterOptimizationAlgorithmProxy()</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_factory.h:131</div></div>
<div class="ttc" id="classg2o_1_1_abstract_optimization_algorithm_creator_html_a8832e6083876766797176fb0d93b4554"><div class="ttname"><a href="classg2o_1_1_abstract_optimization_algorithm_creator.html#a8832e6083876766797176fb0d93b4554">g2o::AbstractOptimizationAlgorithmCreator::~AbstractOptimizationAlgorithmCreator</a></div><div class="ttdeci">virtual ~AbstractOptimizationAlgorithmCreator()</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_factory.h:58</div></div>
<div class="ttc" id="classg2o_1_1_abstract_optimization_algorithm_creator_html_ae9f64a630d2e641043aabc98660495d8"><div class="ttname"><a href="classg2o_1_1_abstract_optimization_algorithm_creator.html#ae9f64a630d2e641043aabc98660495d8">g2o::AbstractOptimizationAlgorithmCreator::AbstractOptimizationAlgorithmCreator</a></div><div class="ttdeci">AbstractOptimizationAlgorithmCreator(const OptimizationAlgorithmProperty &amp;p)</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_factory.cpp:37</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_factory_html_a3ed210b94bf09b47e30d07da3766b4ec"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_factory.html#a3ed210b94bf09b47e30d07da3766b4ec">g2o::OptimizationAlgorithmFactory::CreatorList</a></div><div class="ttdeci">std::list&lt; AbstractOptimizationAlgorithmCreator * &gt; CreatorList</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_factory.h:77</div></div>
<div class="ttc" id="classg2o_1_1_abstract_optimization_algorithm_creator_html_ab074710276ea3496d5bff118e48c6030"><div class="ttname"><a href="classg2o_1_1_abstract_optimization_algorithm_creator.html#ab074710276ea3496d5bff118e48c6030">g2o::AbstractOptimizationAlgorithmCreator::property</a></div><div class="ttdeci">const OptimizationAlgorithmProperty &amp; property() const</div><div class="ttdoc">return the properties of the solver </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_factory.h:62</div></div>
<div class="ttc" id="classg2o_1_1_abstract_optimization_algorithm_creator_html_a96a737bda0f932ac7dd51aa468795353"><div class="ttname"><a href="classg2o_1_1_abstract_optimization_algorithm_creator.html#a96a737bda0f932ac7dd51aa468795353">g2o::AbstractOptimizationAlgorithmCreator::construct</a></div><div class="ttdeci">virtual OptimizationAlgorithm * construct()=0</div><div class="ttdoc">allocate a solver operating on optimizer, re-implement for your creator </div></div>
<div class="ttc" id="optimization__algorithm__property_8h_html"><div class="ttname"><a href="optimization__algorithm__property_8h.html">optimization_algorithm_property.h</a></div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_html"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm.html">g2o::OptimizationAlgorithm</a></div><div class="ttdoc">Generic interface for a non-linear solver operating on a graph. </div><div class="ttdef"><b>Definition:</b> optimization_algorithm.h:46</div></div>
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